CN106030122A - Hydraulic control device for work machine - Google Patents

Hydraulic control device for work machine Download PDF

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Publication number
CN106030122A
CN106030122A CN201580008740.2A CN201580008740A CN106030122A CN 106030122 A CN106030122 A CN 106030122A CN 201580008740 A CN201580008740 A CN 201580008740A CN 106030122 A CN106030122 A CN 106030122A
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CN
China
Prior art keywords
hydraulic
actuating mechanism
dipper
pump
hydraulic actuating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201580008740.2A
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Chinese (zh)
Other versions
CN106030122B (en
Inventor
森木秀
森木秀一
井村进也
石川广二
山下亮平
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Hitachi Construction Machinery Co Ltd
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Hitachi Construction Machinery Co Ltd
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Publication date
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Publication of CN106030122A publication Critical patent/CN106030122A/en
Application granted granted Critical
Publication of CN106030122B publication Critical patent/CN106030122B/en
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/422—Drive systems for bucket-arms, front-end loaders, dumpers or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/425—Drive systems for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance
    • E02F9/2242—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2282—Systems using center bypass type changeover valves
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/412—Excavators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/255—Flow control functions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/265—Control of multiple pressure sources
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
    • F15B2211/30595—Assemblies of multiple valves having multiple valves for multiple output members with additional valves between the groups of valves for multiple output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6654—Flow rate control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7135—Combinations of output members of different types, e.g. single-acting cylinders with rotary motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups

Abstract

The present invention mitigates the reduction in hydraulic actuator speed due to linked operation while reducing loss due to split flow. A hydraulic control device for a work machine having a first hydraulic actuator (6), a hydraulic pump (20a), a second hydraulic actuator (7) and another hydraulic pump (20c), the hydraulic control device being provided with: operation instruction-detecting means (101-104) for detecting that an operation instruction for the first hydraulic actuator (6) and the second hydraulic actuator (7) has been issued; and a pump flow control means (100) capable of individually adjusting the discharge flow of the one hydraulic pump (20a) and the discharge flow of the other hydraulic pump (20c) according to indicated quantities for operation of the first hydraulic actuator (6) and the second hydraulic actuator (7). When the first hydraulic actuator (6) and the second hydraulic actuator (7) are operating at the same time, the pump flow control means (100) increases the discharge flow for the one hydraulic pump (20a) compared to when the first hydraulic actuator (6) is operating and the second hydraulic actuator (7) is not operating.

Description

The hydraulic control device of Work machine
Technical field
The present invention relates to the hydraulic control device of Work machine.
Background technology
In the hydraulic control device of the Work machines such as excavator, corresponding to the operational ton of operation device in pump delivery flow While ground increases, the guiding valve in control valve is action, the liquid such as hydraulic cylinder, hydraulic motor according to first pilot corresponding with operational ton Pressure actuator connects with hydraulic pump.Owing to cutting with opening corresponding with stroke on the guiding valve in control valve, it is possible to root The connecting degree of hydraulic actuating mechanism and hydraulic pump is changed according to first pilot.
Therefore, when the gearing operation making the action simultaneously of multiple hydraulic actuating mechanism, according to the operation of each operation device Amount, pump delivery flow shunts and multiple actuator can be made to interlock.
There is the hydraulic control circuit in following engineering machinery, to avoid auxiliary equipment hydraulic actuating mechanism and other liquid When pressure actuator interlocks, speed of action is reduced to purpose, is configured to from the 1st pump via guiding valve to auxiliary equipment hydraulic pressure Actuator and other a certain hydraulic actuating mechanisms supply working fluid, and can from the 2nd pump via other guiding valves to attached dress Put and supply working fluid with hydraulic actuating mechanism and other a certain hydraulic actuating mechanisms, auxiliary equipment hydraulic actuating mechanism with When other hydraulic actuating mechanisms interlock, control the 1st pump, the 2nd pump respectively so that become to auxiliary equipment hydraulic actuating mechanism stream Amount has added the flow (for example, referring to patent documentation 1) that other hydraulic actuating mechanism flows obtain.
Prior art literature
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2010-236607 publication
Summary of the invention
Hydraulic control circuit according to above-mentioned prior art, it is possible to avoid when interlocking pump discharge not enough and cause hydraulic pressure The speed of action of actuator reduces, and is favorably improved working performance, and can eliminate that to make pump discharge increase necessary above Waste.
But, in the hydraulic control circuit of above-mentioned prior art, interlock hydraulic actuating mechanism load pressure with Auxiliary equipment with in the case of hydraulic actuating mechanism difference, can produce and corresponding with its differential pressure and flow shunt loss, exist more The flow making hydraulic pump increases and shunts the probability that loss more increases.
The present invention researches and develops based on the above-mentioned origin of an incident, its object is to provide the hydraulic control of a kind of Work machine to fill Put, it is possible to alleviate the speed because interlocking the hydraulic actuating mechanism caused and reduce, and the loss caused because of shunting can be reduced.
To achieve these goals, the 1st invention is the hydraulic control device of a kind of Work machine, possesses: the 1st hydraulic pressure performs Mechanism；The hydraulic pump of one side, it can be via the 1st hydraulic actuating mechanism main slide valve to above-mentioned 1st hydraulic actuating mechanism supply Working fluid；2nd hydraulic actuating mechanism；The hydraulic pump of the opposing party, it can via the 2nd hydraulic actuating mechanism main slide valve upwards State the 2nd hydraulic actuating mechanism supply working fluid；With the 1st hydraulic actuating mechanism pair guiding valve, above-mentioned 1st hydraulic pressure can be held by it Row mechanism connects with the hydraulic pump of above-mentioned the opposing party, in the hydraulic control device of this Work machine, is also equipped with: action instruction inspection Surveying mechanism, its detection indicates issued feelings to the action of above-mentioned 1st hydraulic actuating mechanism and above-mentioned 2nd hydraulic actuating mechanism Condition；With pump discharge controlling organization, it can perform machine according to above-mentioned 1st hydraulic pressure being indicated testing agency to detect by above-mentioned action Structure and the action indicatrix of above-mentioned 2nd hydraulic actuating mechanism, separately regulate the delivery flow of the hydraulic pump of one side With the delivery flow of the hydraulic pump of above-mentioned the opposing party, said pump flow control mechanism is at above-mentioned 1st hydraulic actuating mechanism and above-mentioned In the case of the simultaneously action of 2nd hydraulic actuating mechanism, with above-mentioned 1st hydraulic actuating mechanism action and above-mentioned 2nd hydraulic pressure performs machine The situation that structure is failure to actuate is compared, and makes the delivery flow of the hydraulic pump of one side increase.
Invention effect
According to the present invention, possess the 1st hydraulic actuating mechanism, can via the 1st hydraulic actuating mechanism main slide valve upwards State the 1st hydraulic actuating mechanism the supply hydraulic pump of one side of working fluid, the 2nd hydraulic actuating mechanism, can hold via the 2nd hydraulic pressure Row mechanism with main slide valve to above-mentioned 2nd hydraulic actuating mechanism supply working fluid the opposing party hydraulic pump and can be by upper State the Work machine of the secondary guiding valve of the 1st hydraulic actuating mechanism that the 1st hydraulic actuating mechanism connects with the hydraulic pump of above-mentioned the opposing party Hydraulic control device in, in the case of the action simultaneously of the 1st hydraulic actuating mechanism and the 2nd hydraulic actuating mechanism, with the 1st hydraulic pressure Actuator action and situation that the 2nd hydraulic actuating mechanism is failure to actuate is compared, make the delivery flow of the hydraulic pump of a side increase, because of This, it is possible to the speed alleviating the 1st hydraulic actuating mechanism caused because of the action of the 2nd hydraulic actuating mechanism reduces.It addition, now, Owing to the open communication between the 1st hydraulic actuating mechanism and the hydraulic pump of the opposing party is cut off, it is possible to reduce the opposing party's The shunt volume of the delivery flow of hydraulic pump, thus reduce shunting loss.
Accompanying drawing explanation
Fig. 1 is the Work machine of an embodiment of the hydraulic control device representing the Work machine with the present invention Axonometric chart.
Fig. 2 is the hydraulic control circuit of an embodiment of the hydraulic control device of the Work machine representing the present invention Figure.
Fig. 3 is the knot of the controller of an embodiment of the hydraulic control device representing the Work machine constituting the present invention The concept map of structure.
Fig. 4 is the mesh of the controller of an embodiment of the hydraulic control device representing the Work machine constituting the present invention The performance plot of one example of the figure line of mark action operational part.
Fig. 5 is the company of the controller of an embodiment of the hydraulic control device representing the Work machine constituting the present invention The control block diagram of one example of the operation content in logical control portion.
Fig. 6 is the stream of the controller of an embodiment of the hydraulic control device representing the Work machine constituting the present invention The concept map of the structure in amount control portion.
Fig. 7 is the dynamic of the controller of an embodiment of the hydraulic control device representing the Work machine constituting the present invention The control block diagram of one example of the operation content of arm assignment of traffic operational part.
Fig. 8 is the bucket of the controller of an embodiment of the hydraulic control device representing the Work machine constituting the present invention The control block diagram of one example of the operation content in bar target flow distributive operation portion.
Fig. 9 is the pump of the controller of an embodiment of the hydraulic control device representing the Work machine constituting the present invention The control block diagram of one example of the operation content of flow instruction operational part.
Figure 10 is explanation and the pump discharge control in an embodiment of the hydraulic control device of the Work machine of the present invention The performance plot of one example of the action that mechanism processed is relevant.
Figure 11 is explanation and the pump discharge control in an embodiment of the hydraulic control device of the Work machine of the present invention The performance plot of other examples of the action that mechanism processed is relevant.
Figure 12 is explanation and the pump discharge control in an embodiment of the hydraulic control device of the Work machine of the present invention The performance plot of one example of the action that mechanism processed is relevant with connecting controlling organization.
Figure 13 is explanation and the pump discharge control in an embodiment of the hydraulic control device of the Work machine of the present invention The performance plot of other examples of the action that mechanism processed is relevant with connecting controlling organization.
Detailed description of the invention
Hereinafter, the embodiment of the hydraulic control device of the Work machine of the present invention is described based on accompanying drawing.Fig. 1 is to represent tool Having the axonometric chart of the Work machine of an embodiment of the hydraulic control device of the Work machine of the present invention, Fig. 2 is to represent this The hydraulic control circuit figure of one embodiment of the hydraulic control device of the Work machine of invention.
As it is shown in figure 1, have the hydraulic excavating of an embodiment of the hydraulic control device of the Work machine of the present invention Facility are standby: lower traveling body 1；It is arranged in the upper rotating body 2 on this lower traveling body 1；Can above-below direction rotationally with this The front working rig that upper rotating body 2 connects；With the electromotor 2A as prime mover.Front work tool is standby: is arranged on top and rotates Swing arm 3 on body 2；It is arranged on the dipper 4 of the front end of this swing arm 3；Scraper bowl 5 with the front end being arranged on this dipper 4.It addition, should Front work tool is standby drives a pair boom cylinder 6 of swing arm 3, the dipper hydraulic cylinder 7 driving dipper 4 and the shovel of driving scraper bowl 5 Bucket hydraulic cylinder 8.
It addition, this hydraulic crawler excavator is according to the 1st action bars 9a in the driver's cabin being located at upper rotating body 1, the 2nd action bars The operation of 9b, and the hydraulic oil that not shown hydraulic pumping unit is discharged via control valve 10 to boom cylinder 6, dipper liquid Cylinder pressure 7, bucket hydraulic cylinder 8 and rotary hydraulic motor 11 supply.Boom cylinder 6, dipper hydraulic cylinder 7, bucket hydraulic cylinder 8 each Hydraulic cylinder piston rod is stretched by hydraulic oil, it is possible to change position and the posture of scraper bowl 5.It addition, rotary hydraulic motor 11 are rotated by hydraulic oil, and thus upper rotating body 2 rotates relative to lower traveling body 1.
Control valve 10 possesses traveling described later right directional control valve 12a, travels left directional control valve 12b, swing arm use 1st directional control valve 13a, swing arm with the 2nd directional control valve 13c, dipper the 1st directional control valve 14c, dipper with the 2nd direction Control valve 14b, scraper bowl directional control valve 15a and rotation directional control valve 16b.
Electromotor 2A is provided with the speed probe 2Ax of detection engine speed.Boom cylinder 6 is provided with detection The pressure transducer A6 of the pressure of cylinder bottom side grease chamber and the pressure transducer B6 of the pressure of detection piston rod side grease chamber.It addition, Dipper hydraulic cylinder 7 is provided with the pressure transducer A7 and the detection that obtain mechanism as load of the pressure of detection cylinder bottom side grease chamber The pressure transducer B7 of the pressure of piston rod side grease chamber.Similarly, bucket hydraulic cylinder 8 is provided with the pressure of detection cylinder bottom side grease chamber The pressure transducer A8 of power and the pressure transducer B8 of the pressure of detection piston rod side grease chamber.It addition, rotary hydraulic motor 11 has It is ready for use on the pressure transducer A11, the B11 that rotate pressure about detection.These pressure transducers A6～8, B6～8, A11, B11 institute Engine speed detected by the pressure signal detected and speed probe 2Ax is imported into controller 100 described later.
As in figure 2 it is shown, constitute the pump installation 20 of an embodiment of the hydraulic control device of the Work machine of the present invention, Operation according to the 1st to the 4th action bars 9a～9d and all directions control valve as guiding valve in control valve 10 described later supplies Give first pilot, make all directions control valve action in control valve 10.The pump installation 20 of the hydraulic control device in present embodiment Possess the 1st hydraulic pump 20a, the 2nd hydraulic pump 20b and the 3rd hydraulic pump 20c as variable capacity type hydraulic pump.1st～the 3rd liquid Press pump 20a～20c is driven by electromotor 2A.
1st hydraulic pump 20a possesses the actuator 20d driven by the command signal from controller 100 described later, to The delivery flow of the hydraulic oil after the 1st pump line line 21a supply is controlled.Similarly, the 2nd hydraulic pump 20b possesses by from rear The command signal of the controller 100 stated and the actuator 20e that drives, the hydraulic oil after the 2nd pump line line 21b supply is controlled Delivery flow.It addition, the 3rd hydraulic pump 20c possesses the actuator driven by the command signal from controller 100 described later 20f, the delivery flow of the hydraulic oil after the 3rd pump line line 21c supply is controlled.
Omit with present embodiment without the overflow valve of direct relation, oil return circuit, in line check valve for the purpose of simplifying the description Deng.It addition, in the present embodiment, to the example being applicable to known neutral standard-sized sheet (open center) formula hydraulic control device Son illustrates, but the present invention is not limited to this.
On the 1st pump line line 21a connected with the outlet of the 1st hydraulic pump 20a, it is configured with the right directional control valve of traveling 12a, scraper bowl directional control valve 15a and swing arm the 1st directional control valve 13a.It is configured to travel right directional control valve The series loop that 12a is preferential, remaining scraper bowl directional control valve 15a and swing arm are configured in parallel with the 1st directional control valve 13a Loop.
On the 2nd pump line line 21b connected with the outlet of the 2nd hydraulic pump 20b, it is configured with rotation directional control valve 16b, dipper are with the 2nd directional control valve 14b and travel left directional control valve 12b.It is configured to rotation directional control valve 16b Be shunt circuit with dipper with the 2nd directional control valve 14b, travel left directional control valve 12b for and series loop, travelling a left side On shunt circuit with directional control valve 12b, it is configured with the check-valves 17 only allowed from the 2nd hydraulic pump 20b side inflow and throttling Valve 18.Can connect with the 1st hydraulic pump 20 via travelling communicating valve 19 it addition, travel left directional control valve 12b.
It addition, be configured with dipper 2 flow control valve 23 on the shunt circuit of the 2nd pump line line 21b, by from controller The instruction of 100 and drive.
On the 3rd pump line line 21c connected with the outlet of the 3rd hydraulic pump 20c, it is configured with swing arm the 2nd direction controlling Valve 13c and dipper are with the 1st directional control valve 14c.Swing arm the 2nd directional control valve 13c and dipper the 1st directional control valve 14c It is configured to shunt circuit.It addition, be configured with dipper 1 flow control valve 22 on the shunt circuit of the 3rd pump line line 21c, by coming Drive from the instruction of controller 100.
Additionally, the swing arm outlet port of the 1st directional control valve 13a and the port of export of swing arm the 2nd directional control valve 13c Mouth connects with boom cylinder 6 via not shown interflow path.It addition, the dipper port of export of the 1st directional control valve 14c Mouth connects with dipper hydraulic cylinder 7 via not shown interflow path with the dipper outlet port of the 2nd directional control valve 14b. It addition, the outlet port of scraper bowl directional control valve 15a connects with bucket hydraulic cylinder 5, rotate with the outlet of directional control valve 16c Port connects with rotary hydraulic motor 11.
In fig. 2, the 1st action bars 9a～the 4th action bars 9d has not shown pilot valve the most internal, produces with each The operational ton of the operation of verting of action bars first pilot accordingly.Guide from each action bars presses to the operation of all directions control valve Portion supplies.
Connect to the operating portion of scraper bowl directional control valve 15a from the 1st action bars 9a and have with shown in dotted line BkC and BkD Pilot line, is supplied respectively to the scraper bowl first pilot of shovel dress, the first pilot of scraper bowl unloading.It addition, from the 1st action bars 9a to swing arm with the 1st Directional control valve 13a and swing arm connect with each operating portion of the 2nd directional control valve 13c to be had with the guide shown in dotted line BmD and BmU Pipeline, is supplied respectively to swing arm lifting elder generation pilot, swing arm declines first pilot.
With in the pilot line shown in dotted line BkC and BkD, it is provided with the pressure transducer of detection scraper bowl shovel dress pilot pressure 105 unload the pressure transducer 106 of pilot pressure with detection scraper bowl.It addition, with the pilot line shown in dotted line BmD and BmU On, it is provided with pressure transducer 101 and the pressure transducer of detection swing arm decline pilot pressure of detection swing arm lifting pilot pressure 102.These pressure transducers 101,102,105,106 be respectively action indicate testing agency, these pressure transducers 101, 102, the pressure signal detected by 105,106 is imported into controller 100.
From the 2nd action bars 9b to dipper each operation of the 1st directional control valve 14c and dipper the 2nd directional control valve 14b Portion connects to be had with the pilot line shown in dotted line AmC and AmD, is supplied respectively to dipper and retracts first pilot, the first pilot of dipper release.Separately Outward, have from the 2nd action bars 9b to the connection of the operating portion of rotation directional control valve 16b with the pilot pipe shown in dotted line SwR and SwL Line, is supplied respectively to rotate right first pilot, rotate left first pilot.
With in the pilot line shown in dotted line AmC and AmD, it is provided with detection dipper and retracts the pressure transducer of pilot pressure 103 release the pressure transducer 104 of pilot pressure with detection dipper.It addition, with the pilot line shown in dotted line SwR and SwL On, it is provided with detection and rotates pressure transducer 108 and the pressure transducer 107 of the detection left pilot pressure of rotation of right pilot pressure. These pressure transducers 103,104,107,108 are that action indicates testing agency respectively, these pressure transducers 103,104, 107, the pressure signal detected by 108 is imported into controller 100.
Connect to the operating portion travelling right directional control valve 12a from the 3rd lever apparatus 9c and have and show with dotted line TrRF and TrRR The pilot line gone out, supply travels right first pilot of advancing, travels the first pilot of right retrogressing.
Connect to the operating portion travelling left directional control valve 12b from the 4th lever apparatus 9d and have and show with dotted line TrLF and TrLR The pilot line gone out, supply travel left front enter first pilot, travel and left back move back first pilot.
Hydraulic control device in present embodiment possesses controller 100.Controller 100 is from the revolution speed sensing shown in Fig. 1 Device 2Ax inputs engine speed, inputs the pilot pressure signal of each pilot line from above-mentioned pressure transducer 101～108.Separately Outward, from pressure transducer A6～8, B6～8 shown in Fig. 1, A11, B11 input each actuator pressure signal.
It addition, controller 100 is to actuator 20d, the actuator 20e and the 3rd of the 2nd hydraulic pump 20b of the 1st hydraulic pump 20a The actuator 20f of hydraulic pump 20c output instruction signal respectively, controls the delivery flow of each hydraulic pump 20a～20c.It addition, control Device 100, to the operating portion output instruction signal of dipper 1 flow control valve 22, controls the 3rd liquid in the way of increasing throttling with instruction Press pump 20c and the open communication of dipper hydraulic cylinder 7.Similarly, controller 100 is defeated to the operating portion of dipper 2 flow control valve 23 Go out command signal, in the way of increasing throttling with instruction, control the open communication of the 2nd hydraulic pump 20b and dipper hydraulic cylinder 7.
Additionally, said in case of using pressure transducer 101～108 as action instruction testing agency Bright, but it is not limited to this.For example, it is also possible to action bars 9a～9d is set to electric bar, its signal is indicated testing machine as action Structure.
It follows that use an embodiment of the hydraulic control device of the Work machine of the accompanying drawing explanation composition present invention Controller.Fig. 3 is the knot of the controller of an embodiment of the hydraulic control device representing the Work machine constituting the present invention The concept map of structure, Fig. 4 is the controller of an embodiment of the hydraulic control device representing the Work machine constituting the present invention The performance plot of an example of figure line of subject performance operational part, Fig. 5 is the hydraulic control representing the Work machine constituting the present invention The control block diagram of one example of the operation content in the connection control portion of the controller of one embodiment of device.
As it is shown on figure 3, controller 100 possesses: according to each first pilot and each load pressure, each target flow is carried out computing Subject performance operational part 110；To the command signal of dipper 1 flow control valve 22 of connected state and the dipper that control control valve 10 The command signal of 2 flow control valves 23 carries out the connection control portion 120 as connection controlling organization of computing；And based on target Command signal that each target flow that action operational part 110 is calculated, connection control portion 120 are calculated and passing from rotating speed The engine speed of sensor 2Ax, each flow instruction signal of the 1st～3 hydraulic pump 20a～20c is calculated as pump stream The flow-control portion 130 of amount controlling organization.From flow-control portion 130 to actuator 20d～the 20f output order letter of each hydraulic pump Number, control the delivery flow of the 1st～3 hydraulic pump 20a～20c respectively.
Subject performance operational part 110 correspondingly makes each target flow increase with the increase with each pilot pressure inputted The increase of each load pressure added and inputted correspondingly makes the mode that each target flow reduces, and carries out each target flow Computing.It addition, when interlocking operation, carry out each target flow and tail off compared with individually operated situation such computing.
Use Fig. 4 and formula that one example of the computing carried out by subject performance operational part 110 is described.In subject performance computing In portion 110, there is the figure line that according to first pilot, standard flow is carried out computing shown in Fig. 4 as each actuator storage.Such as Rolling target flow Qsw is according to as the value gone out by the maximum selection rule rotated in right pilot pressure and the left pilot pressure of rotation Rotate pilot pressure and calculate.Similarly, dipper retract standard flow Qamc0 be to retract pilot pressure according to dipper and Calculating, dipper is released standard flow Qamd0 and is released pilot pressure according to dipper and calculate.
It addition, swing arm lifting standard flow Qbmu0 calculates according to swing arm lifting pilot pressure.And, scraper bowl Shovel dress standard flow Qbkc0 calculates according to scraper bowl shovel dress pilot pressure, and scraper bowl unloading standard flow Qbkd0 is basis Scraper bowl unloads pilot pressure and calculates.
Subject performance operational part 110 is according to rolling target flow Qsw and uses arithmetic expression number 1 to swing arm target flow Qbm Calculate.
[several 1]
Qbm=min (Qbm0, Qbm max-kswbm·Qsw) (1)
Here, Qbmmax is the higher limit of swing arm flow, set matchingly with the maximal rate of swing arm lifting.It addition, Kswbm is swing arm flow-reduction coefficient, if rolling target flow Qsw increase, the most more increase and swing arm target flow Qbm becomes more Little.In addition it is also possible to instead of using swing arm flow-reduction coefficient k swbm, and use rolling target flow Qsw more to increase and swing arm Higher limit Qbmmax of flow becomes the least such figure line.
Subject performance operational part 110 uses arithmetic expression number 2 sum 3, enters rotary power Lsw and swing arm power Lbm respectively Row calculates.
[several 2]
Lsw=Psw·Qsw (2)
[several 3]
Lbm=Pbmb·Qbm (3)
Here, Psw is for rotating pressure, it is from the left pressure of the rotation detected by pressure transducer A11, B11 and to rotate right pressure The value selecting the pressure of inlet restriction side and obtain.It addition, Pbmb is swing arm cylinder bottom pressure, it is detected by pressure transducer A6 The pressure of the cylinder bottom side grease chamber of boom cylinder 6.
Subject performance operational part 110 uses arithmetic expression number 4 sum 5, to scraper bowl power higher limit Lbkmax and dipper power Higher limit Lammax is respectively calculated.
[several 4]
Lbk max=kbk(Lmax-Lsw-Lbm) (4)
[several 5]
Lam max=kam(Lmax-Lsw-Lbm) (5)
Here, the total output higher limit that Lmax is system.It addition, kbk represents the scraper bowl coefficient of impact, kam represents that dipper moves Force coefficient.Scraper bowl coefficient of impact kbk and dipper coefficient of impact kam is to use scraper bowl first pilot BkC of shovel dress, the first pilot of scraper bowl unloading BkD, dipper retract first pilot AmC, dipper is released first pilot AmD and arithmetic expression number 6 and calculated.
[several 6]
kbk: kam=max (BkC, BkD): max (AmC, AmD) (6)
Subject performance operational part 110 uses scraper bowl shovel dress standard flow Qbkc0, scraper bowl unloading standard flow Qbkd0, scraper bowl Scraper bowl target flow Qbk is calculated by power upper limit Lbkmax and arithmetic expression number 7.It addition, subject performance operational part 110 uses Dipper retracts standard flow Qamc0, dipper releases standard flow Qamd0, dipper power upper limit Lammax and arithmetic expression number 8 to bucket Bar target flow Qam calculates.
[several 7]
Qbk=min (Qbkc0, Qbkd0, Lbk max/Pbk) (7)
[several 8]
Qam=min (Qamc0, Qamd0, Lam max/Pam) (8)
Here, Pbk be the cylinder bottom side grease chamber from the bucket hydraulic cylinder 8 detected by pressure transducer A8, B8 pressure and The pressure of piston rod side grease chamber selects the pressure of inlet restriction side and the value that obtains.It addition, Pam be from pressure transducer A7, The pressure of cylinder bottom side grease chamber and the pressure of piston rod side grease chamber of the dipper hydraulic cylinder 7 detected by B7 select inlet restriction side Pressure and the value that obtains.
It follows that use Fig. 5 explanation by the example connecting the computing that control portion 120 is carried out.Connection control portion 120 possesses the 1 functional generator 120a, the 2nd functional generator 120b, the 3rd functional generator 120c, minima selection portion 120d and maximum Selection portion 120e.
As it is shown in figure 5, pressure transducer 107,108 is examined by the 1st functional generator 120a and the 2nd functional generator 120b The maximum rotated in right pilot pressure and the left pilot pressure of rotation measured inputs as rotating pilot pressure.At the 1st letter In number generator 120a, relative to rotate pilot pressure dipper 2 flow control valve 23 instruction pressure as figure line M1a in advance It is stored in table.
In rotation, first pilot more increases and more makes the characteristic of dipper 2 flow control valve instruction pressure increase figure line M1a.Therefore, The first pilot of rotation more increases and the opening of dipper 2 flow control valve 23 becomes the least, the 2nd hydraulic pump 20b and dipper hydraulic cylinder 7 Connection is cut-off.Thus, increase if rotating first pilot, then the 2nd hydraulic pump 20b only drives rotary hydraulic motor 11, therefore, it is possible to Avoid producing shunting loss because of the load pressure reduction between dipper hydraulic cylinder 7 and rotary hydraulic motor 11.
Additionally, in description of the present embodiment, the cut-out of connection is to instigate by flow substantially 0, will not comprise yet The situation that aperture area completely closes.
In the 2nd functional generator 120b, make relative to the instruction pressure of dipper 1 flow control valve 22 rotating pilot pressure It is pre-stored within table for figure line M1c.In rotation, first pilot more increases and more makes dipper 1 flow control valve instruct figure line M1c The characteristic that pressure reduces.Dipper 1 flow control valve calculated instruction is pressed to minima selection portion by the 2nd functional generator 120b 120d exports.
Scraper bowl shovel dress pilot pressure detected by maximum selection rule portion 120e input pressure sensor 105,106 and scraper bowl Unloading pilot pressure, carries out computing, and is exported to minima selection portion 120d by this maximum maximum therein.
Minima selection portion 120d input from the 2nd functional generator 120b dipper 1 flow control valve instruct pressure, from The signal of the maximum in the scraper bowl shovel dress pilot pressure of maximum selection rule portion 120e and scraper bowl unloading pilot pressure and pressure Swing arm lifting pilot pressure detected by sensor 101, carries out computing to minima therein, and by this minima to the 3rd Functional generator 120c exports.
In the 3rd functional generator 120c, relative to the maximum in the scraper bowl first pilot of shovel dress and the first pilot of scraper bowl unloading And the minima between swing arm lifting elder generation pilot, the instruction pressure of dipper 1 flow control valve 22 prestores as figure line M1b In table.
Figure line M1b is the maximum in the scraper bowl shovel first pilot of dress and the first pilot of scraper bowl unloading and between swing arm lifting elder generation pilot Minima more increase and more make dipper 1 flow control valve instruction pressure increase characteristic.Therefore, the first pilot of scraper bowl shovel dress and scraper bowl Maximum in the first pilot of unloading and the minima between swing arm lifting elder generation pilot more increase and the opening of dipper 1 flow control valve 22 Mouth becomes the least, and the 3rd hydraulic pump 20c is cut off with the connection of dipper hydraulic cylinder 7.
Thus, dipper 4, swing arm 3 aerial composite move time do not make scraper bowl 5 carry out composite move in the case of, dipper 1 The opening of flow control valve 22 becomes maximum direction, and the load pressure of boom cylinder 6 is more than the load pressure of dipper hydraulic cylinder 7, because of The delivery flow of this 3rd hydraulic pump 20c only supplies to dipper hydraulic cylinder 7, it is possible to only drive swing arm liquid by the 1st hydraulic pump 20a Cylinder pressure 6, only drives dipper hydraulic cylinder 7 by the 2nd hydraulic pump 20b and the 3rd hydraulic pump 20c.
It addition, dipper 4, swing arm 3 aerial composite move time make scraper bowl 5 carry out composite move in the case of, swing arm liquid The load pressure of cylinder pressure 6 is more than the load pressure of bucket hydraulic cylinder 8, and therefore the delivery flow of the 1st hydraulic pump 20a is only to bucket hydraulic cylinder 8 supplies, it is possible to drive bucket hydraulic cylinder 8 individually by the 1st hydraulic pump 20a, drive bucket individually by the 2nd hydraulic pump 20b Bar hydraulic cylinder 7, drives boom cylinder 6 individually by the 3rd hydraulic pump 20c.Its result is, it is possible to avoid because of load pressure reduction Produce shunting loss.
But, when rotation process, according to the figure line M1c of the 2nd functional generator 120b, correspondingly will with rotating first pilot Input value to the figure line M1b of the 3rd functional generator 120c limits little, therefore, will not make opening of dipper 1 flow control valve 22 Mouth instruction pressure increases.Thus, the opening of dipper 1 flow control valve 22 will not diminish.Its result is, the discharge of the 3rd hydraulic pump 20c Flow shunt and supply to boom cylinder 6 and dipper hydraulic cylinder 7, it is thus ensured that the action of dipper hydraulic cylinder 7.
It follows that use accompanying drawing explanation as the flow-control portion 130 of pump discharge controlling organization.Fig. 6 is to represent that composition is originally The concept map of the structure in the flow-control portion of the controller of one embodiment of the hydraulic control device of the Work machine of invention, Fig. 7 is that the swing arm flow of the controller of an embodiment of the hydraulic control device representing the Work machine constituting the present invention divides Joining the control block diagram of an example of the operation content of operational part, Fig. 8 is the hydraulic control dress representing the Work machine constituting the present invention The control block diagram of one example of the operation content in the dipper target flow distributive operation portion of the controller of the embodiment put, figure 9 is the pump discharge instruction fortune of the controller of an embodiment of the hydraulic control device representing the Work machine constituting the present invention The control block diagram of one example of the operation content in calculation portion.In Fig. 6 to Fig. 9, identical with the reference shown in Fig. 1 to Fig. 5 is attached Figure labelling represents same section, and therefore description is omitted.
As shown in Figure 6, flow-control portion 130 possesses: swing arm assignment of traffic operational part 131, its multiple directions to swing arm 3 The target flow of each of control valve is allocated computing；Dipper assignment of traffic operational part 132, its multiple sides to dipper 4 It is allocated computing to the target flow of each of control valve；With pump discharge ordering calculation portion 133, it goes out with distributive operation Based on each target flow, the flow of each pump is calculated, to actuator 20d～the 20f output instruction signal of each hydraulic pump, Control the delivery flow of the 1st～3 hydraulic pump 20a～20c.
Use Fig. 7 that one example of the computing carried out by swing arm assignment of traffic operational part 131 is described.Swing arm assignment of traffic operational part 131 possess variable gain multiplier 131a, the 1st maximum selection rule portion 131b, the 1st functional generator 131c, the 1st minima selection Portion 131d, subtractor 131e, the 2nd functional generator 131f, the 3rd functional generator 131g, the 4th functional generator 131h, the 5th letter Number generator 131i, the 2nd maximum selection rule portion 131j, the 2nd minima selection portion 131k and the 6th functional generator 131L.
Variable gain multiplier 131a input from the swing arm target flow of subject performance operational part 110, by with the 1st letter The gain Kbm2 of the output of number generator 131c is multiplied, and swing arm 2 guiding valve target flow is carried out computing.The swing arm 2 that will calculate Guiding valve target flow signal exports to the 1st minima selection portion 131d.
Detected by 1st maximum selection rule portion 131b input pressure sensor 105,106 scraper bowl shovel dress pilot pressure and Scraper bowl unloading pilot pressure, carries out computing to maximum therein, is exported to the 1st functional generator 131c by this maximum.
In the 1st functional generator 131c, with the maximum in scraper bowl shovel dress pilot pressure and scraper bowl unloading pilot pressure Corresponding gain Kbm2 is pre-stored within table as figure line M2a.Such as it may be that unload in the scraper bowl first pilot of shovel dress and scraper bowl Carry in the case of first pilot is minimal pressure and gain Kbm2 is set to 0.5, certain in scraper bowl shovel dress and the first pilot of scraper bowl unloading Gain Kbm2 is set to 1 in the case of maximal pressure by one.
1st minima selection portion 131d input from variable gain multiplier 131a swing arm 2 guiding valve target flow signal, From the restriction signal of the 2nd functional generator 131f described later and the restriction signal from the 6th functional generator 131L, to it In minima carry out computing, and this minima is instructed as swing arm 2 guiding valve target flow to subtractor 131e and pump discharge Operational part 133 exports.
Subtractor 131e input from the swing arm target flow of subject performance operational part 110 and selects from the 1st minima The swing arm 2 guiding valve target flow of portion 131d, slave arm target flow deducts swing arm 2 guiding valve target flow, thus to swing arm 1 guiding valve Target flow carries out computing.The swing arm 1 guiding valve target flow signal calculated is exported to pump discharge ordering calculation portion 133.
Swing arm lifting pilot pressure detected by 2nd functional generator 131f input pressure sensor 101, believes restriction Number to the 1st minima selection portion 131d output.In the 2nd functional generator 131f, relative to the swing arm 2 of swing arm lifting elder generation pilot The higher limit of guiding valve target flow is pre-stored within table as figure line M2c.Figure line M2c and swing arm are with the 2nd directional control valve The aperture area of 13c is the most in direct ratio, correspondingly increases with swing arm lifting elder generation pilot.I.e. with swing arm with the 2nd directional control valve The aperture area of 13c correspondingly makes the higher limit of swing arm 2 guiding valve target flow increase.
Dipper detected by 3rd functional generator 131g input pressure sensor 103 retracts pilot pressure, and will be from advance The signal that the figure line M2d being first stored in table obtains exports to the 2nd maximum selection rule portion 131j.Here, figure line M2d represents relative Retract the dipper of pilot pressure in dipper and retract side opening area with the 1st directional control valve 14c.
Dipper detected by 4th functional generator 131h input pressure sensor 104 releases pilot pressure, will be from advance The signal that the figure line M2e being stored in table obtains exports to the 2nd maximum selection rule portion 131j.Here, figure line M2e represent relative to Dipper releases the dipper release side opening area of the 1st directional control valve 14c of pilot pressure.
The output of the 2nd maximum selection rule portion 131j input the 3rd functional generator 131g is defeated with the 4th functional generator 131h's Go out, maximum therein is carried out computing, this maximum is exported to the 2nd minima selection portion 131k.
5th functional generator 131i input, will from the dipper 1 flow control valve instruction pressure signal in connection control portion 120 The signal obtained from the figure line M2f being pre-stored within table exports to the 2nd minima selection portion 131k.Here, figure line M2f represents Aperture area relative to dipper 1 flow control valve 22 of dipper 1 flow control valve instruction pressure.
2nd minima selection portion 131k inputs the defeated of the 3rd functional generator 131g from the 2nd maximum selection rule portion 131j Go out and the maximum value signal in the output of the 4th functional generator 131h and the output signal of the 5th functional generator 131i, right Minima therein carries out computing, this minima is exported to the 6th functional generator 131L.
6th functional generator 131L input, from the signal of the 2nd minima selection portion 131k, will limit signal to the 1st Little value selection portion 131d exports.In the 6th functional generator 131L, retract first pilot, dipper release first with respect to dipper Pilot also uses the maximum in the value that calculates of figure line M2d, M2e press with according to the instruction of dipper 1 flow control valve and make respectively Minima, swing arm 2 guiding valve target flow limits value between the value calculated with figure line M2f is as figure line M2g in advance It is stored in table.
That is, with the value using figure line M2g to calculate, swing arm 2 guiding valve target flow is limited little.It is equivalent to according to the 3rd Hydraulic pump 20c and the connecting degree of dipper hydraulic cylinder 7, limit swing arm 2 guiding valve target flow.
It follows that use Fig. 8 that one example of the computing carried out by dipper assignment of traffic operational part 132 is described.Dipper flow divides Join operational part 132 and possess variable gain multiplier 132a, the 1st functional generator 132b, minima selection portion 132c, subtractor 132d, the 2nd functional generator 132e, the 3rd functional generator 132f, maximum selection rule portion 132g and the 4th functional generator 132h.
Variable gain multiplier 132a input from the dipper target flow of subject performance operational part 110, by with the 1st letter The gain Kam2 of the output of number generator 132b is multiplied, and dipper 2 guiding valve target flow is carried out computing.The dipper 2 that will calculate Guiding valve target flow signal exports to minima selection portion 132c.
1st functional generator 132b input, will from the dipper 1 flow control valve instruction pressure signal in connection control portion 120 The signal obtained from the figure line M3a being pre-stored within table is set to gain Kam2, exports to variable gain multiplier 132a.Such as It may be that gain Kam2 is set to 0.5 in the case of dipper 1 flow control valve instruction pressure signal is minimal pressure, flow at dipper 1 Control valve instruction pressure signal is gain Kam2 to be set to 1 in the case of maximal pressure.
Minima selection portion 132c inputs the dipper 2 guiding valve target flow signal from variable gain multiplier 132a, comes From the restriction signal of maximum selection rule portion 132g described later and the restriction signal from the 4th functional generator 132h, to therein Minima carries out computing, using this minima as dipper 2 guiding valve target flow to subtractor 132d and pump discharge ordering calculation portion 133 outputs.
Subtractor 132d inputs from the dipper target flow of subject performance operational part 110 with from minima selection portion The dipper 2 guiding valve target flow of 132c, deducts dipper 2 guiding valve target flow from dipper target flow, thus to dipper 1 guiding valve mesh Mark flow carries out computing.The dipper 1 guiding valve target flow signal calculated is exported to pump discharge ordering calculation portion 133.
Dipper detected by 2nd functional generator 132e input pressure sensor 103 retracts pilot pressure, will be from advance The signal that the figure line M3b being stored in table obtains exports to maximum selection rule portion 132g.Here, figure line M3b with relative to dipper Retract pilot pressure dipper the 2nd directional control valve 14b to retract side opening area the most in direct ratio.
Dipper detected by 3rd functional generator 132f input pressure sensor 104 releases pilot pressure, will be from advance The signal that the figure line M3c being stored in table obtains exports to maximum selection rule portion 132g.Here, figure line M3c with relative to dipper The dipper releasing pilot pressure is the most in direct ratio with the release side opening area of the 2nd directional control valve 14b.
The output of maximum selection rule portion 132g input the 2nd functional generator 132e and the output of the 3rd functional generator 132f, Maximum therein is carried out computing, this maximum is exported to minima selection portion 132c.
4th functional generator 132h input, will from the dipper 2 flow control valve instruction pressure signal in connection control portion 120 The signal obtained from the figure line M3d being pre-stored within table exports to minima selection portion 132c.Here, figure line M3d is with relative The most in direct ratio in the aperture area of dipper 2 flow control valve 23 of dipper 2 flow control valve instruction pressure.
That is, with the value retracting first pilot according to dipper, dipper releases elder generation's pilot and use figure line M3b, M3c calculates respectively In maximum and according to dipper 2 flow control valve instruction pressure and use the value that figure line M3d calculates, limit dipper 2 guiding valve Target flow.Its connecting degree be equivalent to according to the 2nd hydraulic pump 20b Yu dipper hydraulic cylinder 7, makes dipper 2 guiding valve target flow Higher limit increase.
It follows that use Fig. 9 that one example of the computing carried out by pump discharge ordering calculation portion 133 is described.Pump discharge instruction fortune Calculation portion 133 possesses the 1st maximum selection rule portion 133a, the 1st divider 133b, the 1st functional generator 133c, the 2nd maximum selection rule Portion 133d, the 2nd divider 133e, the 2nd functional generator 133f, subtractor 133g, the 3rd divider 133h and the 3rd function occur Device 133i.
1st maximum selection rule portion 133a input from subject performance operational part 110 scraper bowl target flow signal and from The swing arm 1 guiding valve target flow signal of swing arm assignment of traffic operational part 131, carries out computing to maximum therein, by this maximum Value exports to the 1st divider 133b as the 1st pump target flow.
1st divider 133b input is from the 1st pump target flow and the speed probe of the 1st maximum selection rule portion 133a Engine speed detected by 2Ax, by by the 1st pump target flow divided by engine speed, the 1st pump target instruction target word is entered Row operation.The 1st pump target instruction target word signal calculated is exported to the 1st functional generator 133c.
The 1st pump target instruction target word signal that 1st functional generator 133c input the 1st divider 133b is calculated, will be from advance The signal that the figure line M4a being first stored in table obtains exports to actuator 20d as the 1st pump discharge command signal.Thus, control The delivery flow of the 1st hydraulic pump 20a.
2nd maximum selection rule portion 133d input from subject performance operational part 110 rolling target flow signal and from The dipper 2 guiding valve target flow signal of dipper assignment of traffic operational part 132, carries out computing to maximum therein, by this maximum Value exports to the 2nd divider 133e as the 2nd pump target flow.
2nd divider 133e input is from the 2nd pump target flow and the speed probe of the 2nd maximum selection rule portion 133d Engine speed detected by 2Ax, by by the 2nd pump target flow divided by engine speed, the 2nd pump target instruction target word is carried out Computing.The 2nd pump target instruction target word signal calculated is exported to the 2nd functional generator 133f.
The 2nd pump target instruction target word signal that 2nd functional generator 133f input the 2nd divider 133e is calculated, will be from advance The signal that the figure line M4b being first stored in table obtains exports to actuator 20e as the 2nd pump discharge command signal.Thus, control The delivery flow of the 2nd hydraulic pump 20b.
Subtractor 133g input come robot arm assignment of traffic operational part 131 swing arm 2 guiding valve target flow signal and from The dipper 1 guiding valve target flow signal of dipper assignment of traffic operational part 132, by by swing arm 2 guiding valve target flow signal and bucket Bar 1 guiding valve target flow signal is added, and the 3rd pump target flow is carried out computing.By the 3rd pump target flow signal that calculates to 3rd divider 133h output.
3rd divider 133h input is detected from the 3rd pump target flow and the speed probe 2Ax of subtractor 133g The engine speed gone out, by by the 3rd pump target flow divided by engine speed, the 3rd pump target instruction target word is carried out computing.Will meter The 3rd pump target instruction target word signal calculated exports to the 3rd functional generator 133i.
The 3rd pump target instruction target word signal that 3rd functional generator 133i input the 3rd divider 133b is calculated, will be from advance The signal that the figure line M4c being first stored in table obtains exports to actuator 20f as the 3rd pump discharge command signal.Thus, control The delivery flow of the 3rd hydraulic pump 20c.
Additionally, in the present embodiment, the situation that will be set to 1 to the speed reducing ratio of each hydraulic pump from electromotor 2A is illustrated. In the case of speed reducing ratio is beyond 1, need to carry out computing corresponding with speed reducing ratio.
It follows that use the dynamic of an embodiment of the hydraulic control device of the Work machine of the accompanying drawing explanation present invention Make.Figure 10 is explanation and the pump discharge controlling organization in an embodiment of the hydraulic control device of the Work machine of the present invention The performance plot of one example of relevant action, Figure 11 is an enforcement of explanation and the hydraulic control device of the Work machine of the present invention The performance plot of other examples of the action that the pump discharge controlling organization in mode is relevant, Figure 12 is the working rig of explanation and the present invention The one of the action that pump discharge controlling organization in one embodiment of the hydraulic control device of tool is relevant with connecting controlling organization The performance plot of example, Figure 13 is explanation and the pump discharge in an embodiment of the hydraulic control device of the Work machine of the present invention The performance plot of other examples of the action that controlling organization is relevant with connecting controlling organization.
Figure 10 is the performance plot representing the example carrying out the action in the case of dipper retracts in swing arm lifting action.
In Fig. 10, horizontal axis representing time, about the longitudinal axis, (a) represents pilot pressure, and (b) represents the discharge stream of hydraulic pump Amount, (c) represents actuator speed, and (d) represents actuator pressure.It addition, the solid line in (a) represents swing arm lifting elder generation pilot The characteristic of power, dotted line represents that dipper retracts the characteristic of pilot pressure.B the solid line in () represents the delivery flow of the 1st hydraulic pump 20a Characteristic, dotted line represents the characteristic of the delivery flow of the 3rd hydraulic pump 20c.C the solid line in () represents the execution of boom cylinder 6 The characteristic of mechanism speed, dotted line represents the characteristic of the actuator speed of dipper hydraulic cylinder 7.D the solid line in () represents swing arm liquid The characteristic of the pressure of the cylinder bottom side grease chamber of cylinder pressure 6, dotted line represents the characteristic of the pressure of the cylinder bottom side grease chamber of dipper hydraulic cylinder 7.Separately Outward, moment T1 represents the moment starting swing arm lifting action, and moment T2 represents that starting dipper retracts the moment of action.
First, after starting swing arm lifting action from moment T1, as shown in (a), swing arm lifting pilot pressure rises.Then, 1st hydraulic pump 20a and the 3rd hydraulic pump 20c connects with the cylinder bottom side grease chamber of boom cylinder 6, as Suo Shi (b) with swing arm lifting first Correspondingly, the delivery flow of the 1st hydraulic pump 20a and the 3rd hydraulic pump 20c increases and swing arm 3 action pilot power.Thus, shown in (c) Boom cylinder 6 actuator speed increase, and as shown in (d) the cylinder bottom side grease chamber of boom cylinder 6 pressure increasing Add.
Then, when starting after dipper retracts action from moment T2, dipper as shown in (a) retracts pilot pressure and rises.Then, 2nd hydraulic pump 20b and the 3rd hydraulic pump 20c connects with the cylinder bottom side grease chamber of dipper hydraulic cylinder 7.Aloft in action, such as (d) institute Show that the pressure of the cylinder bottom side grease chamber of the pressure ratio dipper hydraulic cylinder 7 of the cylinder bottom side grease chamber of boom cylinder 6 is high, therefore the 3rd hydraulic pressure The delivery flow of pump 20c does not supplies to dipper hydraulic cylinder 7 with not shunting.
Now, the flow-control portion 130 of the hydraulic control device of present embodiment, as it is shown in fig. 7, retract guide with dipper Pressure correspondingly makes swing arm 2 guiding valve target flow reduce, and makes swing arm 1 guiding valve target flow increase.Its result is, the 1st hydraulic pump 20a Delivery flow and moment T2 increase as shown in (b) than before, therefore, it is possible to do not make the delivery flow of the 3rd hydraulic pump 20c divide Stream ground, alleviates the reduction of swing arm lifting speed as Suo Shi (c).Now, as Suo Shi (d), the cylinder bottom side grease chamber of dipper hydraulic cylinder 7 Pressure increase.
Additionally, here, carrying out interlocking two hydraulic actuating mechanisms (boom cylinder 6 and dipper hydraulic cylinder 7) of operation In, in the case of boom cylinder 6 is set to the 1st hydraulic actuating mechanism, machine will be performed via different guiding valves and the 1st hydraulic pressure The hydraulic pump of structure and the connection of the 2nd hydraulic actuating mechanism is defined as the hydraulic pump of the opposing party.In above-mentioned action, the 3rd hydraulic pump 20c is equivalent to the hydraulic pump of the opposing party.
It addition, will (swing arm is with the 1st direction controlling via the 1st hydraulic actuating mechanism main slide valve (primary spool) Valve) hydraulic pump that connects of 13a and the 1st hydraulic actuating mechanism (boom cylinder 6) is defined as the hydraulic pump of a side.Move above-mentioned In work, the 1st hydraulic pump 20a is equivalent to the hydraulic pump of a side.
It addition, will hold as the hydraulic pressure not connected with the hydraulic pump 20a of a side and only connect with the hydraulic pump 20c of the opposing party The dipper hydraulic cylinder 7 of row mechanism is defined as the 2nd hydraulic actuating mechanism.
It is to say, carrying out interlocking in two hydraulic actuating mechanisms operated, via the 1st main cunning of hydraulic actuating mechanism The hydraulic pump 20a connection of valve (swing arm with the 1st directional control valve) 13a and a side and via the 1st hydraulic actuating mechanism with secondary guiding valve The hydraulic pressure that (secondary spool) (swing arm with the 2nd directional control valve) 13c and hydraulic pump 20c of the opposing party connects performs machine It is configured to the 1st hydraulic actuating mechanism.
In the case of so definition, pump discharge controlling organization (the flow-control portion of the controller in present embodiment 130) it is characterised by, same at the 1st hydraulic actuating mechanism (boom cylinder 6) and the 2nd hydraulic actuating mechanism (dipper hydraulic cylinder 7) Time action in the case of, with (boom cylinder 6) action of the 1st hydraulic actuating mechanism and the 2nd hydraulic actuating mechanism (dipper hydraulic cylinder 7) situation about being failure to actuate is compared, and carries out the control making the delivery flow of the hydraulic pump (the 1st hydraulic pump 20a) of a side increase.
It follows that the action in the case of using Figure 11 explanation to carry out scraper bowl unloading in swing arm lifting action.
In fig. 11, horizontal axis representing time, in the longitudinal axis, (a) represents pilot pressure, and (b) represents the delivery flow of hydraulic pump, C () represents actuator speed, (d) represents actuator pressure.It addition, the solid line in (a) represents swing arm lifting pilot pressure Characteristic, dotted line represent scraper bowl unloading pilot pressure characteristic.B the solid line in () represents the delivery flow of the 3rd hydraulic pump 20c Characteristic, dotted line represents the characteristic of the delivery flow of the 1st hydraulic pump 20a.C the solid line in () represents the execution machine of boom cylinder 6 The characteristic of structure speed, dotted line represents the characteristic of the actuator speed of bucket hydraulic cylinder 8.D the solid line in () represents swing arm hydraulic pressure The characteristic of the pressure of the cylinder bottom side grease chamber of cylinder 6, dotted line represents the characteristic of the pressure of the piston rod side grease chamber of bucket hydraulic cylinder 8.Separately Outward, moment T1 represents the moment starting swing arm lifting action, and moment T2 represents the moment starting scraper bowl uninstall action.At Figure 11 In, until before moment T2 identical with Figure 10 action, therefore omit the description.
After starting scraper bowl uninstall action from moment T2, as shown in (a), scraper bowl unloading pilot pressure rises.Then, the 1st liquid Press pump 20a connects with the piston rod side grease chamber of bucket hydraulic cylinder 8.Aloft in action, the cylinder of boom cylinder 6 as shown in (d) The pressure of the piston rod side grease chamber of the pressure ratio bucket hydraulic cylinder 8 of bottom side grease chamber is high, the therefore delivery flow of the 1st hydraulic pump 20a Do not supply to bucket hydraulic cylinder 8 with not shunting.
Now, the flow-control portion 130 of the hydraulic control device of present embodiment, as it is shown in fig. 7, unload guide with scraper bowl Pressure correspondingly makes swing arm 2 guiding valve target flow increase, and makes swing arm 1 guiding valve target flow reduce.Its result is, the 3rd hydraulic pump 20c Delivery flow and moment T2 increase as shown in (b) than before, therefore, it is possible to do not make the delivery flow of the 1st hydraulic pump 20a divide Stream ground, alleviates the reduction of swing arm lifting speed as Suo Shi (c).Now, as Suo Shi (d), the piston rod side oil of bucket hydraulic cylinder 8 The pressure of room increases.
Additionally, here, carrying out interlocking two hydraulic actuating mechanisms (boom cylinder 6 and bucket hydraulic cylinder 8) of operation In, in the case of boom cylinder 6 is set to the 1st hydraulic actuating mechanism, machine will be performed via different guiding valves and the 1st hydraulic pressure The hydraulic pump of structure and the connection of the 2nd hydraulic actuating mechanism is defined as the hydraulic pump of the opposing party.In above-mentioned action, the 1st hydraulic pump 20a is equivalent to the hydraulic pump of the opposing party.
It addition, will hold via the 1st hydraulic actuating mechanism main slide valve (swing arm with the 2nd directional control valve) 13c and the 1st hydraulic pressure The hydraulic pump that row mechanism (boom cylinder 6) connects is defined as the hydraulic pump of a side.In above-mentioned action, the 3rd hydraulic pump 20c Be equivalent to the hydraulic pump of a side.
It addition, will hold as the hydraulic pressure not connected with the hydraulic pump 20c of a side and only connect with the hydraulic pump 20a of the opposing party The bucket hydraulic cylinder 8 of row mechanism is defined as the 2nd hydraulic actuating mechanism.
It is to say, carrying out interlocking in two hydraulic actuating mechanisms operated, via the 1st main cunning of hydraulic actuating mechanism The hydraulic pump 20c connection of valve (swing arm with the 1st directional control valve) 13a and a side and via the 1st hydraulic actuating mechanism with secondary guiding valve The hydraulic actuating mechanism that (swing arm with the 2nd directional control valve) 13c and hydraulic pump 20c of the opposing party connects becomes the 1st hydraulic pressure and performs Mechanism.
In the case of so definition, pump discharge controlling organization (the flow-control portion of the controller in present embodiment 130) it is characterised by, same at the 1st hydraulic actuating mechanism (boom cylinder 6) and the 2nd hydraulic actuating mechanism (bucket hydraulic cylinder 8) Time action in the case of, with (boom cylinder 6) action of the 1st hydraulic actuating mechanism and the 2nd hydraulic actuating mechanism (bucket hydraulic cylinder 8) situation about being failure to actuate is compared, and carries out the control making the delivery flow of the hydraulic pump (the 3rd hydraulic pump 20c) of a side increase.
It follows that the action in the case of using Figure 12 explanation to rotate in dipper projecting motion.
In fig. 12, horizontal axis representing time, in the longitudinal axis, (a) represents pilot pressure, and (b) represents aperture area, and (c) represents The delivery flow of hydraulic pump, (d) represents actuator speed, and (e) represents actuator pressure.It addition, the solid line in (a) represents Dipper releases the characteristic of pilot pressure, and dotted line represents the characteristic rotating pilot pressure.B the solid line in () represents dipper 2 flow control The characteristic of the aperture area of valve processed, the solid line in (c) represents the characteristic of the delivery flow of the 3rd hydraulic pump 20c, and dotted line represents the 2nd The characteristic of the delivery flow of hydraulic pump 20b.D the solid line in () represents the characteristic of the actuator speed of dipper hydraulic cylinder 7, dotted line Represent the characteristic of the actuator speed of rotary hydraulic motor 11.E the solid line in () represents the piston rod side oil of dipper hydraulic cylinder 7 The characteristic of the pressure of room, dotted line represents the characteristic of the supply pressure of rotary hydraulic motor.It addition, moment T1 represents that beginning dipper pushes away Going out the moment of action, moment T2 represents the moment starting spinning movement.
First, after starting dipper projecting motion from moment T1, dipper as shown in (a) is released pilot pressure and is risen.Then, 3rd hydraulic pump 20c and the 2nd hydraulic pump 20b connects with the piston rod side grease chamber of dipper hydraulic cylinder 7, as Suo Shi (c), pushes away with dipper The delivery flow going out pilot pressure correspondingly the 2nd hydraulic pump 20b and the 3rd hydraulic pump 20c increases and dipper 4 action.Thus, (d) The actuator speed of shown dipper hydraulic cylinder 7 increases, and as shown in (e), the piston rod side grease chamber of dipper hydraulic cylinder 7 Pressure increases.
Then, after T2 starts spinning movement from the moment, as Suo Shi (a), rotate pilot pressure rise.Then, the 2nd hydraulic pressure Pump 20b connects with rotary hydraulic motor 11.
Now, the connection control portion 120 of the hydraulic control device of present embodiment, as it is shown in figure 5, pilot phase first with rotation Make dipper 2 flow control valve instruction pressure increase with answering, as shown in Figure 12 (b), the opening of dipper 2 flow control valve 23 is cut off.By This, the delivery flow of the 2nd hydraulic pump 20b does not supplies to rotary hydraulic motor 11 with not shunting.
It addition, the flow-control portion 130 of the hydraulic control device of present embodiment, as shown in Figure 8, with dipper 2 flow control Valve processed instruction pressure correspondingly makes dipper 2 guiding valve target flow reduce, and makes dipper 1 guiding valve target flow increase.Its result is, the 3rd The delivery flow of hydraulic pump 20c and moment T2 increase than before as shown in (c), therefore, it is possible to make the discharge of the 2nd hydraulic pump 20b Flow does not shunt ground, alleviates the reduction of dipper speed to introduce as shown in (d).Now, as Suo Shi (e), rotary hydraulic motor 11 Pressure increases.
Additionally, here, carrying out interlocking two hydraulic actuating mechanisms (dipper hydraulic cylinder 7 and rotary hydraulic motors of operation 11) in, in the case of dipper hydraulic cylinder 7 is set to the 1st hydraulic actuating mechanism, will hold via different guiding valves and the 1st hydraulic pressure The hydraulic pump that row mechanism connects with the 2nd hydraulic actuating mechanism is defined as the hydraulic pump of the opposing party.In above-mentioned action, the 2nd liquid Press pump 20b is equivalent to the hydraulic pump of the opposing party.
It addition, will hold via the 1st hydraulic actuating mechanism main slide valve (dipper with the 1st directional control valve) 14c and the 1st hydraulic pressure The hydraulic pump that row mechanism (dipper hydraulic cylinder 7) connects is defined as the hydraulic pump of a side.In above-mentioned action, the 3rd hydraulic pump 20c Be equivalent to the hydraulic pump of a side.
It addition, will hold as the hydraulic pressure not connected with the hydraulic pump 20c of a side and only connect with the hydraulic pump 20b of the opposing party The rotary hydraulic motor 11 of row mechanism is defined as the 2nd hydraulic actuating mechanism.
It is to say, carrying out interlocking in two hydraulic actuating mechanisms operated, via the 1st main cunning of hydraulic actuating mechanism The hydraulic pump 20c connection of valve (dipper with the 1st directional control valve) 14c and a side and via the 1st hydraulic actuating mechanism with secondary guiding valve The hydraulic actuating mechanism that (dipper with the 2nd directional control valve) 14b and hydraulic pump 20b of the opposing party connects becomes the 1st hydraulic pressure and performs Mechanism.
In the case of so definition, pump discharge controlling organization (the flow-control portion of the controller in present embodiment 130) it is characterised by, at the 1st hydraulic actuating mechanism (dipper hydraulic cylinder 7) and the 2nd hydraulic actuating mechanism (rotary hydraulic motor 11), in the case of action simultaneously, (rotate with (the dipper hydraulic cylinder 7) action of the 1st hydraulic actuating mechanism and the 2nd hydraulic actuating mechanism Hydraulic motor 11) situation about being failure to actuate compares, carries out making the delivery flow of the hydraulic pump (the 3rd hydraulic pump 20c) of a side increase Control.
It follows that use the situation carrying out swing arm lifting at dipper in the composite move that Figure 13 explanation retracts, scraper bowl shovel fills Under action.
In fig. 13, horizontal axis representing time, in the longitudinal axis, (a) represents pilot pressure, and (b) represents aperture area, and (c) represents The delivery flow of hydraulic pump, (d) represents actuator speed, and (e) represents actuator pressure.It addition, the solid line in (a) represents Dipper retracts pilot pressure and the characteristic of scraper bowl unloading pilot pressure, and dotted line represents the characteristic of swing arm lifting pilot pressure.In (b) Solid line represent the characteristic of aperture area of dipper 1 flow control valve, the solid line in (c) represents the discharge stream of the 2nd hydraulic pump 20b The characteristic of amount, dotted line represents the characteristic of the delivery flow of the 3rd hydraulic pump 20c.Additionally, omit the 1st hydraulic pressure for the purpose of simplifying the description The characteristic of the delivery flow of pump 20a.D the solid line in () represents the characteristic of the actuator speed of dipper hydraulic cylinder 7, dotted line represents The characteristic of the actuator speed of boom cylinder 6.E the solid line in () represents the pressure of the cylinder bottom side grease chamber of dipper hydraulic cylinder 7 Characteristic, dotted line represents the characteristic of the pressure of the cylinder bottom side grease chamber of boom cylinder 6.It addition, moment T1 represents that beginning dipper draws Returning the moment of the composite move filled with scraper bowl shovel, moment T2 represents the moment starting swing arm lifting action.
First, when from moment T1 start dipper retract with scraper bowl shovel dress composite move after, as shown in (a), dipper retracts elder generation Pilot power and scraper bowl shovel dress pilot pressure rise.Then, the 1st hydraulic pump 20a connects with the cylinder bottom side grease chamber of bucket hydraulic cylinder 8, 3rd hydraulic pump 20c and the 2nd hydraulic pump 20b connects with the cylinder bottom side grease chamber of dipper hydraulic cylinder 7, as Suo Shi (c), retracts with dipper The delivery flow of pilot pressure and scraper bowl shovel dress pilot pressure correspondingly the 2nd hydraulic pump 20b and the 3rd hydraulic pump 20c increases and struggles against Bar 4 and scraper bowl 5 action.Thus, the actuator speed of the dipper hydraulic cylinder 7 shown in (d) increases, and as shown in (e), dipper The pressure of the cylinder bottom side grease chamber of hydraulic cylinder 7 increases.
Then, after starting swing arm lifting action from moment T2, as shown in (a), swing arm lifting pilot pressure rises.Then, 1st hydraulic pump 20a and the 3rd hydraulic pump 20c connects with the cylinder bottom side grease chamber of boom cylinder 6.Cylinder bottom side at bucket hydraulic cylinder 8 In the case of the pressure of grease chamber is low, the delivery flow of the 1st hydraulic pump 20a does not supplies to bucket hydraulic cylinder 8 with not shunting.
Now, the connection control portion 120 of the hydraulic control device of present embodiment, as shown in Figure 5 with swing arm lifting guide Pressure correspondingly makes dipper 1 flow control valve instruction pressure increase, and opening dipper 1 flow control valve 22 as shown in (b) of Figure 13 Mouth cuts off.Thus, the delivery flow of the 3rd hydraulic pump 20c does not supplies to boom cylinder 6 with not shunting.
It addition, the flow-control portion 130 of the hydraulic control device of present embodiment, as shown in Figure 8, with dipper 1 flow control Valve processed instruction pressure correspondingly makes dipper 2 guiding valve target flow increase, and makes dipper 1 guiding valve target flow reduce.Its result is, the 2nd The delivery flow of hydraulic pump 20b and moment T2 increase than before as shown in (c), therefore, it is possible to make the delivery flow of each hydraulic pump Do not shunt ground, as shown in (d), alleviate the reduction of dipper pull-back speed.Now, as Suo Shi (e), the cylinder bottom side oil of boom cylinder 6 The pressure of room increases.
Additionally, here, carrying out interlocking two hydraulic actuating mechanisms (dipper hydraulic cylinder 7 and boom cylinder 6) of operation In, in the case of dipper hydraulic cylinder 7 is set to the 1st hydraulic actuating mechanism, machine will be performed via different guiding valves and the 1st hydraulic pressure The hydraulic pump of structure and the connection of the 2nd hydraulic actuating mechanism is defined as the hydraulic pump of the opposing party.In above-mentioned action, the 3rd hydraulic pump 20c is equivalent to the hydraulic pump of the opposing party.
It addition, will hold via the 1st hydraulic actuating mechanism main slide valve (dipper with the 2nd directional control valve) 14b and the 1st hydraulic pressure The hydraulic pump that row mechanism (dipper hydraulic cylinder 7) connects is defined as the hydraulic pump of a side.In above-mentioned action, the 2nd hydraulic pump 20b Be equivalent to the hydraulic pump of a side.
It addition, will hold as the hydraulic pressure not connected with the hydraulic pump 20b of a side and only connect with the hydraulic pump 20c of the opposing party The boom cylinder 6 of row mechanism is defined as the 2nd hydraulic actuating mechanism.
It is to say, carrying out interlocking in two hydraulic actuating mechanisms operated, via the 1st main cunning of hydraulic actuating mechanism The hydraulic pump 20b connection of valve (dipper with the 2nd directional control valve) 14b and a side and via the 1st hydraulic actuating mechanism with secondary guiding valve The hydraulic actuating mechanism that (dipper with the 1st directional control valve) 14c and hydraulic pump 20c of the opposing party connects becomes the 1st hydraulic pressure and performs Mechanism.
In the case of so definition, pump discharge controlling organization (the flow-control portion of the controller in present embodiment 130) it is characterised by, same at the 1st hydraulic actuating mechanism (dipper hydraulic cylinder 7) and the 2nd hydraulic actuating mechanism (boom cylinder) Time action in the case of, with (the dipper hydraulic cylinder 7) action of the 1st hydraulic actuating mechanism and the 2nd hydraulic actuating mechanism (boom cylinder 6) situation about being failure to actuate is compared, and carries out the control making the delivery flow of the hydraulic pump (the 2nd hydraulic pump 20b) of a side increase.
One embodiment of the hydraulic control device of the Work machine according to the above-mentioned present invention, is possessing the 1st hydraulic pressure Actuator, can via the 1st hydraulic actuating mechanism main slide valve to above-mentioned 1st hydraulic actuating mechanism supply working fluid one Side hydraulic pump, the 2nd hydraulic actuating mechanism, can via the 2nd hydraulic actuating mechanism main slide valve to above-mentioned 2nd hydraulic pressure perform machine Structure supply working fluid the opposing party hydraulic pump and can be by the hydraulic pressure of above-mentioned 1st hydraulic actuating mechanism Yu above-mentioned the opposing party In 1st hydraulic actuating mechanism of the pump connection hydraulic control device with the Work machine of secondary guiding valve, at the 1st hydraulic actuating mechanism and In the case of the simultaneously action of 2nd hydraulic actuating mechanism, with the 1st hydraulic actuating mechanism action and the 2nd hydraulic actuating mechanism is failure to actuate Situation compare, make a side hydraulic pump delivery flow increase, therefore, it is possible to alleviate because of the action of the 2nd hydraulic actuating mechanism And the speed of the 1st hydraulic actuating mechanism caused reduces.It addition, now, due to by the 1st hydraulic actuating mechanism and the 2nd hydraulic pump Open communication cut off, it is possible to reduce the shunt volume of delivery flow of the 2nd hydraulic pump, thus reduce shunting loss.
Additionally, the present invention is not limited to the above embodiments, comprise various variation.Such as, above-mentioned enforcement Example is for ease of understanding to illustrate that the present invention is illustrated in detail, but need not necessarily be limited to possess illustrated whole knots Structure.
Description of reference numerals
1: lower traveling body, 2: upper rotating body, 2A: electromotor, 3: swing arm, 4: dipper, 5: scraper bowl, 6: swing arm hydraulic pressure Cylinder, 7: dipper hydraulic cylinder, 8: bucket hydraulic cylinder, 9: action bars (operation device), 10: control valve, 11: rotary hydraulic motor, 13a: swing arm is with the 1st directional control valve (guiding valve), and 13c: swing arm is with the 2nd directional control valve (guiding valve), and 14b: dipper is with the 2nd direction Control valve (guiding valve), 14c: dipper the 1st directional control valve (guiding valve), 15a: scraper bowl directional control valve (guiding valve), 16b: rotation Conversion directional control valve (guiding valve), the 20: hydraulic pumping unit, 20a: the 1 hydraulic pump, the 20b: the 2 hydraulic pump, the 20c: the 3 hydraulic pump, 20d: the 1 hydraulic pump actuator, the 20e: the 2 hydraulic pump actuator, the 20f: the 3 hydraulic pump actuator, the 21a: the 1 pump line Line, the 21b: the 2 pump line line, the 21c: the 3 pump line line, 22: dipper 1 flow control valve, 23: dipper 2 flow control valve, 100: control Device, 101～108: pilot pressure sensor (action indicates testing agency), 110: subject performance operational part, 120: connection controls Portion's (connection controlling organization), 130: flow-control portion (pump discharge controlling organization).

Claims (4)

1. a hydraulic control device for Work machine, possesses:
1st hydraulic actuating mechanism；
The hydraulic pump of one side, it can be via the 1st hydraulic actuating mechanism main slide valve to described 1st hydraulic actuating mechanism supply work Make fluid；
2nd hydraulic actuating mechanism；
The hydraulic pump of the opposing party, it can be via the 2nd hydraulic actuating mechanism main slide valve to described 2nd hydraulic actuating mechanism supply Working fluid；With
1st hydraulic actuating mechanism pair guiding valve, the hydraulic pump of described 1st hydraulic actuating mechanism with described the opposing party can be connected by it Logical, the hydraulic control device of described Work machine is characterised by,
Being also equipped with: action indicates testing agency, its detection is to described 1st hydraulic actuating mechanism and described 2nd hydraulic actuating mechanism Action indicate issued situation；With pump discharge controlling organization, it can indicate testing agency's detection according to by described action Described 1st hydraulic actuating mechanism gone out and the action indicatrix of described 2nd hydraulic actuating mechanism, separately regulate described one The delivery flow of the hydraulic pump of side and the delivery flow of the hydraulic pump of described the opposing party,
Described pump discharge controlling organization is in described 1st hydraulic actuating mechanism and the feelings of described 2nd hydraulic actuating mechanism action simultaneously Under condition, compared with described 1st hydraulic actuating mechanism action and situation that described 2nd hydraulic actuating mechanism is failure to actuate, make described one The delivery flow of the hydraulic pump of side increases.
2. the hydraulic control device of Work machine as claimed in claim 1, it is characterised in that
It is also equipped with regulating the connection of the open communication between described 1st hydraulic actuating mechanism and the hydraulic pump of described the opposing party Controlling organization,
Described connection controlling organization is in described 1st hydraulic actuating mechanism and the situation of described 2nd hydraulic actuating mechanism action simultaneously Under, described open communication is cut off.
3. the hydraulic control device of Work machine as claimed in claim 2, it is characterised in that
Described 1st hydraulic actuating mechanism is boom cylinder, and described 2nd hydraulic actuating mechanism is dipper hydraulic cylinder or bucket hydraulic Cylinder.
4. the hydraulic control device of Work machine as claimed in claim 2, it is characterised in that
Described 1st hydraulic actuating mechanism is dipper hydraulic cylinder, and described 2nd hydraulic actuating mechanism is rotary hydraulic motor or swing arm liquid Cylinder pressure.
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CN109790856B (en) * 2016-12-15 2020-06-12 株式会社日立建机Tierra Hydraulic drive device for working machine

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EP3193024A1 (en) 2017-07-19
EP3193024A4 (en) 2018-05-02
EP3193024B1 (en) 2022-12-28
JP2016061307A (en) 2016-04-25
CN106030122B (en) 2018-05-11
US20170009424A1 (en) 2017-01-12
JP6212009B2 (en) 2017-10-11
WO2016038921A1 (en) 2016-03-17
KR20160106715A (en) 2016-09-12
KR101868722B1 (en) 2018-06-18

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